test run_slam_offline

.github/workflows/main.yml

@@ -2,9 +2,9 @@ name: CI
 
 on:
   push:
-    branches: [ ros2 ]
+    branches: [ros2]
   pull_request:
-    branches: [ ros2 ]
+    branches: [ros2]
 
   workflow_dispatch:
 
@@ -15,9 +15,9 @@ jobs:
       - uses: actions/checkout@v3
       - uses: DoozyX/[email protected]
         with:
-          source: '.'
-          exclude: './3rd'
-          extensions: 'h,cc'
+          source: "."
+          exclude: "./3rd"
+          extensions: "h,cc"
           clangFormatVersion: 6
           style: file
           inplace: False
@@ -82,6 +82,9 @@ jobs:
           (source /opt/ros/${ROS_DISTRO}/setup.bash && ros2 bag play MH_04_difficult)
           pkill -SIGINT -f run_slam
           pkill -SIGINT -f static_transform_publisher
+      - name: run slam offline (stereo)
+        run: |
+          (source /opt/ros/${ROS_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam_offline -b /datasets/EuRoC/MH_04_difficult.bag -r -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db-out map_stereo.msg --left=/cam0/image_raw --right=/cam1/image_raw --ros-args -p publish_tf:=false)&
 
   rosdep:
     runs-on: ubuntu-latest